/
COMS.ino
427 lines (388 loc) · 16.8 KB
/
COMS.ino
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
// int look_for_signature_in_ambient(int face)
// void fill_out_temp_message(char define_message_TYPE, int define_message_value, char define_message_char)
// bool process_message(int face)
// bool process_messages_all_faces()
//
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// index [0] [1] [2] [3] [4] [5] [6] [7]
// type type type [value] [value] char type type
// char location_message[STANDARD_MESSAGE_LENGTH] = {'l', 'l', 'l', 'l' '1', '9', 'a', 'l'}; // do not pass this message on...
int look_for_signature_in_ambient(int face)
{
}
void fill_out_temp_message(char define_message_TYPE, int define_message_value, char define_message_char)
{
char buf [3];
sprintf(buf, "%02i",define_message_value);
int digit1 = 0;
int digit2 = 0;
digit1 = buf [0];
digit2 = buf [1];
temp_active_message[0] = define_message_TYPE;
temp_active_message[1] = define_message_TYPE;
temp_active_message[2] = char(digit1);
temp_active_message[3] = char(digit2);
temp_active_message[4] = define_message_char;
temp_active_message[5] = define_message_TYPE;
temp_active_message[6] = define_message_TYPE;
}
bool process_message(int face)
{
int fb_message_size_temp = fb_message_size(face);
if (fb_message_size_temp >= MESSAGE_THRESHOLD)
{
fb_receiveFromRxBuffer(face, fb_message_size_temp); /// contents are now in temp_message[] - an array
if(fb_message_size_temp == MESSAGE_THRESHOLD && isupper(temp_message[1])) {temp_message[5] = temp_message[1];} // Pad message if it is too short...
if(fb_message_size_temp == (MESSAGE_THRESHOLD+1) && isupper(temp_message[1])) {temp_message[6] = temp_message[1];} // Pad message if it is too short...
if(DEBUG){for(int i = 0; i < 15; i++){Serial.print(" "); Serial.print(temp_message[i]);}}
/// temp_message_type - char
/// temp_message_id - int these get updated according to the below
/// temp_message_char - char
if(read_message_information_and_align(temp_message))
{
if(DEBUG)
{
Serial.print("PROCESSED A MESSAGE!!!!: ");
Serial.print(" type: ");Serial.print(temp_message_type);
Serial.print(" value: ");Serial.print(temp_message_value);
Serial.print(" char: ");Serial.print(temp_message_char);
}
if(temp_message_type == 'S') {process_special_message (face, temp_message_value, temp_message_char);}
else if(temp_message_type == 'L') {process_location_message(face, temp_message_value, temp_message_char);}
else if(temp_message_type == 'H') {process_hey_message (face, temp_message_value, temp_message_char);}
else if(temp_message_type == 'C') {process_color_message (face, temp_message_value, temp_message_char);}
else if(temp_message_type == 'M') {process_motion_message (face, temp_message_value, temp_message_char);}
}
else // this is if the message type is not accaptable... do nothing
{
delay(1);
Serial.println(" I JUST FOUND A MESSAGE THAT DIDNT MEET CRITERIA =(");
for(int i = 0; i < MESSAGE_THRESHOLD; i++){Serial.print(" | ");Serial.print(temp_message[i]);}
Serial.print(" : is the Message text is: ");
}
}
else if(fb_message_size_temp > 0 && ir_face_buffer_previous[face] > 0) // this means buffer is still partially full, after one check...
{
Serial.println("checked partial message");
fb_receiveFromRxBuffer(face, fb_message_size_temp);
// for(int i = 0; i < fb_message_size_temp; i ++)
// {
// temp_message_value = 53;
// if(temp_message[i] == 'R'){temp_message_char = 'r'; process_color_message (face, temp_message_value, temp_message_char);}
// else if(temp_message[i] == 'G'){temp_message_char = 'g'; process_color_message (face, temp_message_value, temp_message_char);}
// else if(temp_message[i] == 'B'){temp_message_char = 'b'; process_color_message (face, temp_message_value, temp_message_char);}
// else if(temp_message[i] == 'Y'){temp_message_char = 'y'; process_color_message (face, temp_message_value, temp_message_char);}
// else if(temp_message[i] == 'P'){temp_message_char = 'p'; process_color_message (face, temp_message_value, temp_message_char);}
// else if(temp_message[i] == 'W'){temp_message_char = 'w'; process_color_message (face, temp_message_value, temp_message_char);}
// else if(temp_message[i] == 'T'){temp_message_char = 't'; process_color_message (face, temp_message_value, temp_message_char);}
// }
fbrxflush(face);
fb_message_size_temp = 0;
}
else { } // this means that fb_message_size(face) is less than or equal to zero
ir_face_buffer_previous[face] = fb_message_size_temp;
erase_received_message();
}
bool process_messages_all_faces()
{
for(int face = 1; face < ACTIVE_FACES; face++)
{
if(i_just_sent_an_ir_message[face] > 0) // this is designed to not check for messages immeaditly after sending them...
{
i_just_sent_an_ir_message[face]--;
if(i_just_sent_an_ir_message[face] == 1) {fbrxflush(face);}
}
else {process_message(face);}
}
}
//////////////////////////////////////
//////////////////////////////////////
//////////////////////////////////////
void prepare_standard_messages()
{
edit_message_value(location_message, cube_id);
edit_message_value(special_message, cube_id);
}
// index [0] [1] [2] [3] [4] [5] [6] [7] [8] [9]
// type type type type [value] [value] char type type
//char location_message[STANDARD_MESSAGE_LENGTH] {M_L, M_L, M_L, M_L, '1', '9', 'a', M_L, M_L, M_L};
bool read_message_information_and_align (char message[])
{
if(DEBUG){Serial.println("read_message_information_and_align");}
bool success = false;
int max_tries = 5;
int tries = 0;
while(tries < max_tries)
{
if(message[tries] == message[4+tries] && isupper(message[tries]) && isdigit(message[1+tries]) && isdigit(message[2+tries]) && islower(message[3+tries]))
{
success = true;
temp_message_value = ((message[1+tries] - '0')*10 + (message[2+tries] - '0'));
temp_message_char = message[3+tries];
if(message[tries] == 'S') {temp_message_type = 'S';}
else if(message[tries] == 'L') {temp_message_type = 'L';}
else if(message[tries] == 'H') {temp_message_type = 'H';}
else if(message[tries] == 'C') {temp_message_type = 'C';}
else if(message[tries] == 'M') {temp_message_type = 'M';}
else {temp_message_type = 'X'; success = false; Serial.println("read_message_type failed!");}
break;
}
tries++; if(DEBUG){Serial.println("Incremented tries...");}
}
Serial.print("TRIES: "); Serial.println(tries);
return success;
}
//////////////////////////////////////
//////////////////////////////////////
//////////////////////////////////////
// index [0] [1] [2] [3] [4] [5] [6] [7]
// type type type [id1] [id2] char type type
//char location_message[8] = {'l', 'l', 'l', '1', '9', 'a', 'l', 'l'}; // do not pass this message on...
//char hey_message[8] = {'h', 'h', 'h', '1', '4', 'h', 'h', 'l'}; // pass these on by default
bool edit_message_char (char message[], char new_char)
{
bool success = true;
message[message_info_begin_index+char_position_offset] = new_char;
return success;
}
bool edit_message_value (char message[], int new_value)
{
char buf [3];
sprintf(buf, "%02i", new_value);
int digit1 = 0;
int digit2 = 0;
digit1 = buf [0];
digit2 = buf [1];
message[message_info_begin_index] = char(digit1);
message[message_info_begin_index+1] = char(digit2);
bool success = true;
return success;
}
void erase_received_message()
{
for(int i = 0; i < ARRAY_LENGTH_LONG; i++){temp_message[i] = '_';}
}
int bitArrayToInt32(bool arr[], int count_)
{
int ret = 0;
int tmp;
for (int i = 0; i < count_; i++) {
tmp = arr[i];
ret |= tmp << (count_ - i - 1);
}
return ret;
}
// Pulse should look like this:
// _|_|_|_|_|_|_|_|_|_|_|_|_|_|_|_|_|_|_|_
// [16] [15] [14] [13] [12] [11] [10] [9] [8] [7] [6] [5] [4] [3] [2] [1]
// * * * * *
// _ _ A A A _ _ _ b1 b2 b3 c1 c2 c2 _ [send message...]
// led0 - 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0
// led1 - 0 1 0 0 1 1 1 0 0 0 0 0 0 1 1 1 0
// led2 - 1 0 0 0 1 1 1 0 0 0 1 1 1 0 0 0 0
// led3 - 1 1 0 0 1 1 1 0 0 0 1 1 1 1 1 1 0
void general_counter(int counter_array[])
{
for(int face = 1; face < ACTIVE_FACES; face++)
{
if(counter_array[face] < 1) {} // we are done... wait for this number to get bumped up again
else
{
if(counter_array[face] == 5 ) {}
else if(counter_array[face] == 2 ) {}
counter_array[face]--;
}
}
}
void signature_blink()
{
for(int face = 1; face < ACTIVE_FACES; face++)
{
if(signature_blink_array[face] < 1) {} // we are done... wait for this number to get bumped up again
else
{
if(signature_blink_array[face] == 4 ) {IRLED(face,1,1,1,1);}
else if(signature_blink_array[face] == 1 ) {IRLED(face,0,0,0,0);}
signature_blink_array[face]--;
}
}
}
void location_message_special_blink()
{
for(int face = 1; face < ACTIVE_FACES; face++)
{
if(message_location_blink_counter[face] < 1) {} // we are done... wait for this number to get bumped up again
else
{
if(message_location_blink_counter[face] == 1)
{
//location_message[index_of_face_number] = char(face_a); //location_message[index_of_face_number + 2] = char(face);
//send_ir_message_char(face, location_message_long, long_message_length);
char new_char_temp = 'a';
if(face == 1){new_char_temp = 'a';}
else if(face == 2){new_char_temp = 'b';}
else if(face == 3){new_char_temp = 'c';}
else if(face == 4){new_char_temp = 'd';}
else if(face == 5){new_char_temp = 'e';}
else if(face == 6){new_char_temp = 'f';}
edit_message_char(location_message, new_char_temp);
send_ir_message_char(face, location_message, STANDARD_MESSAGE_LENGTH);
if(DEBUG){Serial.println("I JUST SENT A LOCATION MESSAGE");}
}
else if(message_location_blink_counter[face] == 14) {IRLED(face,1,1,1,1);}
else if(message_location_blink_counter[face] == 11) {IRLED(face,0,0,0,0);}
else if(message_location_blink_counter[face] == 8 ) {IRLED(face,0,0,1,1);}
else if(message_location_blink_counter[face] == 5 ) {IRLED(face,0,1,0,1);}
else if(message_location_blink_counter[face] == 2 ) {IRLED(face,0,0,0,0);}
message_location_blink_counter[face]--;
}
}
}
//color_message, MESSAGE_THRESHOLD);
bool send_ir_message_on_faces(bool face1, bool face2, bool face3, bool face4, bool face5, bool face6, char message[])
{
if(face1) {send_ir_message_char(1, message, MESSAGE_THRESHOLD);}
if(face2) {send_ir_message_char(2, message, MESSAGE_THRESHOLD);}
if(face3) {send_ir_message_char(3, message, MESSAGE_THRESHOLD);}
if(face4) {send_ir_message_char(4, message, MESSAGE_THRESHOLD);}
if(face5) {send_ir_message_char(5, message, MESSAGE_THRESHOLD);}
if(face6) {send_ir_message_char(6, message, MESSAGE_THRESHOLD);}
}
bool send_ir_message_char(int face, char message[], int message_length)
{
IRLED(face,0,0,0,0);
delay(1);
fbtxled(face,1,1,1,1);
delay(1);
fbtx_send_msg_char(face, message_length, message);
i_just_sent_an_ir_message[face] = 3;
return(true);
}
///////// SENDING
// fbtxcount <facenumber>
// fbtx <facenumber> <message>
//**** fbtxled <faceNumber> [<irLEDNumber1>] [<irLEDNumber2>] [<irLEDNumber3>] [<irLEDNumber3>]
/////// RECEIVING
//**** fbrx <faceNumber> <byteCount>
//**** fbrxflush <faceNumber>
//**** fbrxcount <facenumber>
bool fbtx_send_msg_char(int face, int numBytes, char message[])
{
char twiBuf[30];
if (face > 6 || face < 1) {return false;}
twiBuf[0] = 0x30; //FB_REGISTER_ADDR_TX_BUF;
for(int i = 0; i < numBytes; i++){twiBuf[i+1] = message[i];}
Wire.beginTransmission(face);
for(int i = 0; i < (1 + numBytes); i++)
{
Wire.write(byte(twiBuf[i]));
}
Wire.endTransmission();
return(true);
}
int fb_message_size(int face)//, uint8_t *bytes)
{
int number = 0;
if ((face < 1) || (face > 6)) {return -1;}
Wire.beginTransmission(face);//
Wire.write(byte(0x41)); //FB_REGISTER_ADDR_RX_CONSUMED_COUNT
Wire.endTransmission();
Wire.requestFrom(face, 1);
if (Wire.available() > 0) {number = Wire.read(); Wire.endTransmission();} // read the number stored in faceboard
if(number > 0){Serial.print("fb_message_size_buffer: ");Serial.print(number);Serial.print(" on face: ");Serial.println(face);}
return number;
}
bool fb_receiveFromRxBuffer(int face, int numBytes)//, uint8_t *bytes)
{
if ((face < 1) || (face > 6)) {return -1;}
Wire.beginTransmission(face);//
Wire.write(byte(0x40)); // int i2c1 = 0x40; //FB_REGISTER_ADDR_RX_BUF 0x40
Wire.endTransmission();
Wire.requestFrom(face, numBytes);
if (Wire.available() >= numBytes) //ambientLight = twiBuf[0] << 2;
{
for(int i = 0; i < numBytes; i++)
{
temp_message[i] = Wire.read();
}
if(DEBUG){for(int i = 0; i < numBytes; i++) {Serial.print(temp_message[i]);} Serial.println(" ");}
}
return true;
}
bool fbrxflush(int face)
{
if(DEBUG){Serial.print("Flushing buffer on face: ");Serial.println(face);}
if (face < 1 || face > 6){return(false);}
digitalWrite(Switch, HIGH);
int i2c1 = 0x42; // FB_REGISTER_ADDR_RX_FLUSH
int i2c2 = 0x01;
Wire.beginTransmission(face);
Wire.write(byte(i2c1));
Wire.write(byte(i2c2));
Wire.endTransmission();
return(true);
}
bool fbtxled(int face, bool led1, bool led2, bool led3, bool led4)
{
if (face < 1){return(false);}
int i2c1 = 0x33; // FB_REGISTER_ADDR_TX_LED_SELECT
int i2c2 = 0x00;
if (face > 6) {return(false);}
i2c2 = led1 ? 0x01 : 0x00;
i2c2 |= led2 ? 0x02 : 0x00;
i2c2 |= led3 ? 0x04 : 0x00;
i2c2 |= led4 ? 0x08 : 0x00;
Wire.beginTransmission(face);
Wire.write(byte(i2c1));
Wire.write(byte(i2c2));
Wire.endTransmission();
return(true);
}
void schedule_message_send()
{
for(int face = 1; face < ACTIVE_FACES; face++)
{
if(message_general_counter[face] > 0)
{
send_ir_message_char(face, temp_active_message, MESSAGE_THRESHOLD);
message_general_counter[face]--;
} // we are done... wait for this number to get bumped up again
else{}// we are done... wait for this number to get bumped up again
}
}
//
//bool fb_getIRTxLEDs(int face, bool led1, bool led2, bool led3, bool led4)
//{
// if ((face < 1) || (face > 6)) {return -1;}
// uint8_t twiBuf[2];
// bool success = true;
// twiBuf[0] = 0x33; // FB_REGISTER_ADDR_TX_LED_SELECT
// Wire.beginTransmission(face);//
// Wire.write(byte(0x40)); // int i2c1 = 0x40; //FB_REGISTER_ADDR_RX_BUF 0x40
// Wire.endTransmission();
//
// Wire.requestFrom(face, 1);
// if (numBytes <= Wire.available()) //ambientLight = twiBuf[0] << 2;
// {
// for(int i = 0; i < numBytes; i++)
// {
// temp_message[i] = Wire.read();
// }
// //for(int i = 0; i < numBytes; i++) { Serial.print(temp_message[i]); }
// }
// return true;
//
// success &= twi_master_transfer((faceNum << 1), twiBuf, 1, true);
// success &= twi_master_transfer((faceNum << 1) | TWI_READ_BIT, twiBuf, 1, true);
//
// twi_master_deinit();
//
// if (success) {
// led1 = (twiBuf[0] & 0x01) ? true : false;
// led2 = (twiBuf[0] & 0x02) ? true : false;
// led3 = (twiBuf[0] & 0x04) ? true : false;
// led4 = (twiBuf[0] & 0x08) ? true : false;
// }
//
// return success;
//}